A decentralized coverage simulator that measures completeness, interference, and recovery under limited local communication.
A deterministic kinodynamic planner that balances collision risk, control limits, and replanning deadlines in a simulated workspace.
An instruction-and-peripheral energy model that attributes battery cost to firmware tasks under real-time constraints.
A kinematic calibration solver that estimates joint offsets and link parameters while enforcing physical identifiability constraints.
A state-machine verifier for dual-bank firmware updates under power loss, rollback, version skew, and key rotation.
A reproducible sliding-window visual-inertial estimator with explicit marginalization and failure diagnostics.
A virtual-time harness that couples firmware binaries to simulated sensors, buses, interrupts, and physical plants.
A factor-graph bench that jointly estimates sensor bias, clock offset, and rigid transforms from replayed motion traces.
A runtime assurance state machine that detects sensor and actuator faults and switches a simulated robot into provably bounded fallback modes.
A streaming decoder that reconstructs contact location, force, and slip events from noisy tactile sensor arrays.
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